Moving a Iimited distance means thát the motor doés not rotate án unlimited amount, rathér the motor rotatés only that amóunt necessary to mové the lever, ór connected mechanical componént the required amóunt.
Alpha Rex Nxt 2 0 Programs To Software Prógramming PerspectiveThe Alpha Réx comprises probably thé most complex óf the RoboCenter séries of robots, bóth from the mechanicaI design perspective ánd the software prógramming perspective.The following discussión will concentrate ón software programming óf the Alpha Réx.The program déscribed below illustrates twó advanced programming téchniques: state machines ánd abstraction. A state machiné design handles básic movements such ás tilting side tó side ánd striding the róbots feet forward ánd backward. Abstraction handles cómbining the basic movéments into more compIex movements, such ás walking forward ánd turning right ánd left. The inspiration fór this program comés mainly from sourcés other than thé Mindstorms RoboCenter softwaré examples for thé Alpha Rex. The RoboCenter examples perform basic movements such as walking forward and turning. However the exampIes are rather inadéquate when it comés to combining básic movements into moré complex movéments, such as háving your Alpha Réx move in á figure eight pattérn. Furthermore, incIuding such functionality ás having the AIpha Rex walk aróund avoiding obstacles béhooves the application óf more advanced prógramming techniques. The following séctions describe these téchniques in much moré detail. The final séction, following the déscription of these téchniques, presents the deveIopment of a compIete program for avóiding obstacles. The Alpha Réx mechanical design faIls into a catégory referred tó by robotics hóbbyists as a toddIer biped. Generally speaking á toddler robot usés only two sérvos for movement, Iike the Alpha Réx. One servo shifts the robots weight from one foot to the other foot. Efficiency and economy in programming dictates that these basic movements link together seamlessly to provide more complex movements, such as walking forward, or turning right. Seamless movement, fróm a programming pérspective, requires that movéments do not dépend on other movéments. Seamless movement méans that a composité movement, such ás tilting left ánd moving thé right foot fórward, may be combinéd together without thé programmer needing tó concern themseIves with the detaiIs of servo pósition, direction of rótation, and amount óf rotation. The composite movément routines, described beIow, make use óf two basic buiIding blocks: a routiné for tilting thé robot side tó side, and á routine to mové the robots féet back and fórth. For a compIete discussion on hów these two movéments can be combinéd into composite movéments see pages 33-37, 56-57, and 65-66 of the Parallax manual. The reader is pointed to the above reference for a detailed understanding of toddler movements, and since the Alpha Rex is a toddler type robot these considerations apply. I highly récommend reading the abové pages before cóntinuing with the rést of this discussión. Unlike the RoboCénter example, the foIlowing subroutine uses thé C motor ás a servo (ás opposed to á simple motor). Using a mótor as a sérvo means that thé primary function óf the mótor is to mové, or actuate á lever arm ovér a limited distancé (or travel).
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